//------------------------------------------------------------------------------
//  <copyright file="KinectObjectDetectorResultIRMessage.cs" company="Microsoft Corporation">
// The MIT License (MIT)
// 
// Copyright (c) 2014, Microsoft Corporation
// 
// Permission is hereby granted, free of charge, to any person obtaining a copy
//  of this software and associated documentation files (the "Software"), to deal
//  in the Software without restriction, including without limitation the rights
//  to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
//  copies of the Software, and to permit persons to whom the Software is
//  furnished to do so, subject to the following conditions:
// 
// The above copyright notice and this permission notice shall be included in
//  all copies or substantial portions of the Software.
// 
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
//  IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
//  FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
//  AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
//  LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
//  OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
//  THE SOFTWARE.
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//------------------------------------------------------------------------------

namespace Microsoft.Robotics.Vision.Runtime
{
    using System;
    using System.Collections.Generic;
    using System.Runtime.Serialization;

    using Microsoft.Robotics.Numerics;
    using Microsoft.Robotics.Runtime;
    using Microsoft.Robotics.Vision.ObjectDetection;
    using Microsoft.Robotics.Vision.Runtime.Cameras;

    /// <summary>
    /// Exposes results of running object detection on kinect depth and IR messages
    /// </summary>
    [DataContract]
    public class KinectObjectDetectorResultIRMessage : SimpleAgentMessage<ObjectPoseEstimate[]>
    {
        /// <summary>
        /// Kinect depth frame
        /// </summary>
        [DataMember]
        public readonly ImageFrameDepth DepthFrame;

        /// <summary>
        /// Kinect IR frame
        /// </summary>
        [DataMember]
        public readonly ImageFrame<ushort> IRframe;

        /// <summary>
        /// Initializes a new instance of the <see cref="KinectObjectDetectorResultIRMessage" /> class
        /// </summary>
        /// <param name="originTime">Originating time for detection, normally time on the kinect message</param>
        /// <param name="depthFrame">Depth frame</param>
        /// <param name="irFrame">IR frame</param>
        /// <param name="detectionResults">Detection results</param>
        public KinectObjectDetectorResultIRMessage(
            long originTime,
            ImageFrameDepth depthFrame,
            ImageFrame<ushort> irFrame,
            ObjectPoseEstimate[] detectionResults)
            : base(detectionResults, originTime)
        {
            this.DepthFrame = depthFrame;
            this.IRframe = irFrame;
        }
    }
}
